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To cite this article: Prabhata K. Swamee & Pushpa N. Rathie (2004) Exact Solutions for Normal Depth Problem, Journal of
Hydraulic Research, 42:5, 543-550, DOI: 10.1080/00221686.2004.9641223
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Journal of Hydraulic Research Vol. 42, No. 5 (2004), pp. 543–549
© 2004 International Association of Hydraulic Engineering and Research
PUSHPA N. RATHIE, Professor, Department of Statistics, University of Brasilia, Brasilia 70910-900, Brazil
ABSTRACT
Normal depth is a key parameter occurring in the design of canals. It also occurs in the analysis of varied flow in canals and natural streams. The open
channel resistance equation involves implicit form for all the practical canal sections. The solution of the implicit equation for normal depth involves
tedious method of trial and error. Presented herein are the exact equations for normal depth for various open channel sections.
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RÉSUMÉ
La profondeur normale est un paramètre principal dans la conception des canaux. Il s’introduit également dans l’analyse de l’écoulement variés dans
les canaux et rivières. L’équation de résistance des canaux à surface libre se présente sous forme implicite pour toutes les sections pratiques de canal.
La solution de l’équation implicite pour la profondeur normale recourt à la méthode pénible d’essai et erreur. Les équations exactes de la profondeur
normale pour différentes sections de canal sont présentées ci-dessous.
where Q = discharge; C = Chezy’s roughness coefficient; S0 = Relaxing Eqs (3) and (4) Swamee (1994) gave the following
channel bed slope; A = flow area; and R = hydraulic radius dimensionally consistent uniform flow equation:
defined as the ratio of flow area A to the flow perimeter P . Chezy’s
ε 0.221ν
roughness coefficient is not constant but it varies in a wide range Q = −2.457A gRS0 ln + √ (5)
12R R gRS0
Another commonly used resistance equation is attributed to an
Irish engineer Robert Manning. Manning’s equation is given by For a triangular, wide rectangular, and narrow rectangular sec-
tions both Chezy’s and Manning’s equations are explicit. On the
1
Q= AR 2/3 S0 (2) other hand, for these sections Eq. (5) is explicit only for narrow
n
rectangular section. For all other sections Eqs (1), (2) and (5)
where n = Manning’s roughness coefficient. Manning’s rough- being implicit, no analytical solution is available.
ness coefficient is a function of the surface roughness. Manning’s The present investigation was taken to obtained analyti-
equation is applicable to hydraulically rough surfaces. Hager cal solutions in terms of rapidly converging infinite series for
(1989) gave the following condition on the average height commonly occurring open-channel sections.
Revision received December 11, 2003 / Open for discussion until February 28, 2005.
543
544 Swamee and Rathie
√
For Mb ≤ 27/32, the solution of Eq. (20) is obtained as rectangular channel. Substituting y = 1/βn , Eq. (24) is rewritten
in the form
1/3
1/3
Mb2 32Mb2 y = Nb−1 (2 + y)−2/3 (29)
βn = 1+ 1−
2 27 Comparing Eqs (17) and (29), the following equation is obtained:
1/3 ∞ n−1
1 d
32Mb2 βn−1 = (2 + x) −2n/3
(30)
+ 1 − 1− (21) n=1
Nbn (n + 1) dx n−1 x=0
27
Equation (30) simplifies to
√ ∞
2(−5n/3)+1 (1 − 2n/3)
On the other hand, for Mb ≥ 27/32, Eq. (20) is solved as βn−1 = (31)
Nbn (n + 1)(2 − 5n/3)
n=1
2 ψ Equation (31) reduces to
βn = 2 Mb cos (22)
3 3
2−2/3 0.363708 2 0.39685 3
βn−1 = − +
where Nb Nb Nb
4
1 27 0.439845 0.478982 5 0.513012 6
cos ψ = (23) − + −
Nb Nb Nb
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Mb 32
7 8
0.542458 0.568061 0.59049 9
+ − +
Nb Nb Nb
4.2 Manning equation 10
0.610292
Manning’s equation (2) for a rectangular section is converted to − + ··· (32)
Nb
βn
5/3 It can be seen that for a narrow rectangular channel putting
Nb = (24) Nb → ∞ in Eq. (32) yields Eq. (13).
(1 + 2βn )2/3
√
where Nb = Qn/(b8/3 S0 ). Substituting y = βn , Eq. (24) is
5 Trapezoidal section
reduced to
Simplifying Eq. (26) and then using y = βn gives Using Eqs (33) and (34), Eq. (1) is changed to
[mβn (1 + mβn )]3/2
∞
3n/5 Hb = √ (35)
2 n−1
[(2n/5) + 1]
Nb (1 + 2βn 1 + m2 )1/2
βn = (27)
(n + 1) [(−3n/5) + 2] √
n=1 where Hb = m1.5 Q/(Cb2 bS0 ). Substituting
where denotes the gamma function. Eq. (27) is rewritten as 1 2
y = mβn + (36)
6/5 9/5 12/5 2
3/5 Nb Nb Nb Eq. (35) is reduced to:
βn = Nb + + −
1.2044 2.7679 2.3550
18/5 21/5 24/5 1 2/3 √ 1/3
Nb Nb Nb y = + Hb 1 + m−2 + 1(2 y − 1) (37)
+ − − 4
2.2124 2.3624 2.2227 Equation (37) has the form of Eq. (17). Thus, Eq. (18) with
27/5 √
Nb f (y) = y − 21 yields
+ + ··· (28) ∞
1.9268 √ 1 Hb
2n/3
dn−1 1
y− = √
Thus, the solution of Eq. (24) is expressed in terms of an infinite 2 n=1
(n + 1) dx n−1 2 x
series. Although for Nb → 0, Eq. (28) reduces to the description √ n/3
of normal depth in a wide rectangular channel, for Nb → ∞ × 1 + m−2 + 1(2 x − 1) (38)
Eq. (28) is not capable of describing the normal depth in a narrow x=1/4
546 Swamee and Rathie
Using Eq. (36), Eq. (38) is written as Equation (45) has the form of Eq. (17). Thus, Eq. (18) with
√
∞
f (y) = y − 21 gives
1 Hb
2n/3
dn−1 1
βn = √ √ 1 ∞
Pb
3n/5
dn−1 1
m n=1 (n + 1) dx n−1 2 x y− = √
2 n=1
(n + 1) dx n−1 2 x
√ n/3
× 1+ m−2 + 1(2 x − 1) (39) "
√ #2n/5
x=1/4 × 1 + m−2 + 1 2 x − 1 (46)
x=1/4
On simplifying, Eq. (39) is rewritten as
Using Eq. (36), Eq. (46) is written as
1 2/3 1 2 4/3 ∞
1 Pb
3n/5
dn−1 1
βn = Hb + −1 + 1 + m−2 Hb βn = √
m m 3 m n=1 (n + 1) dx n−1 2 x
2
+ 1 − 1 + m−2 Hb2 "
√ #2n/5
m × 1+ m−2 + 1 2 x − 1
(47)
1 8
− −15 + 20 1 + m−2 − (1 + m−2 ) x=1/4
3m 3 Equation (47) is simplified to
8
− (1 + m−2 )3/2 Hb + · · ·
8/3
(40) 1 3/5 1 4 −2 6/5
27 βn = Pb + −1 + 1+m Pb
m m 5
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Equation (40) is not valid for large values of Hb , For large Hb , 2 2 9/5
+ 27 − 30 1 + m−2 + 2 Pb
writing y = 1/βn in Eq. (35) and simplifying gives 25m m
m3/5 (m + y)3/5 1
y= √ (41) + − 865 + 984 1 + m−2
125m
Hb (y + 2 1 + m2 )1/5
2/5
16
12/5
Using Eqs (17), (18) and (41), the following equation is obtained: − 2 15 + 1 + m−2 Pb
m
∞
m3n/5 2 −2
6
βn−1 = + 2 13 − 14 1 + m + 2 Pb3 + · · · (48)
2n/5
Hb (n + 1) m m
n=1
n−1 Equation (44) for y = 1/βn yields
d −n/5
× (m + x) 3n/5
2 1 + m2 + x [m(m + y)]5/8
dx n−1 x=0 y= 3/8
√ 1/4 (49)
(42) Pb 2 1 + m2 + y
Using Eqs (17), (18) and (49), the following equation is obtained:
Equation (42) is reduced to
∞
n−1
m5n/8 d
√
−1
βn = 3n/8
m6/5 0.07579m7/5 m − 6 1 + m2 n=1 Pb (n + 1) dx n−1
βn−1 = 2/5
− 4/5
"
−n/4 #$
21/5 (1 + m2 )1/10 Hb (1 + m2 )7/10 Hb × (m + x)5n/8 2 1 + m2 + x (50)
√ x=0
0.01320m8/5 12 + 14m2 − 9m 1 + m2 Equation (50) is reduced to
+
√
(1 +
6/5
m2 )13/10 Hb 0.84090m5/4 0.08839m3/2 m − 5 1 + m2
! √ ! βn−1 = 3/8
− 3/4
0.000574m9/5 !−168m − 189m3 + 4(14 + 41m2 ) 1 + m2 ! (1 + m2 )1/8 Pb (1 + m2 )3/4 Pb
+
√
8/5
(1 + m2 )19/10 Hb 0.00465m7/4 35 + 42m2 − 30m 1 + m2
+ 9/8
+ ··· (43) (1 + m2 )11/8 Pb
√
0.00781m1/2 5 + 20m2 + 15m4 − m(15 + 171m2 ) 1 + m2
+ 3/2
5.2 Manning equation (1 + m2 )5/2 Pb
+ ··· (51)
Using Eqs (33) and (34), the Manning equation (2) is converted to
6.1 Chezy equation Equation (59) has the form of Eq. (17) with a = θ = 1/2; and
Substituting Eqs (52) and (53) in Eq. (1) the following equation
1 −1
is obtained: φ(y) = 1 − 2 cos cos (1 − 2y)
64MD2
3
−1 √ 1.5 − 2(1 − 2y) y(1 − y) (60)
cos (1 − 2ηn ) − 2(1 − 2ηn ) ηn (1 − ηn )
MD = (54)
8[cos−1 (1 − ηn )]0.5
Thus, Eq. (18) with f (y) = y gives
√ 1
∞
1
where MD = Q/ CD2 DS0 . Assuming y = ηn , Eq. (54) is y= +
written as 2 n=1 2 (n + 1)
n
n−1
d 1
× 1 − 2 cos cos−1 (1 − 2x)
1 1 % 2/3 dx n−1 64MD2
y= − cos 4MD [cos−1 (1 − y)]1/3 3 n
2 2
& − 2(1 − 2x) x(1 − x) (61)
+ 2(1 − 2y) y(1 − y) (55) x=1/2
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∞
Using Eqs (2), (52) and (53), the following equation is found out:
1 (−1)n
y= + √ 5/3
2 n=1 2n (n + 1) cos−1 (1 − 2ηn ) − 2(1 − 2ηn ) ηn (1 − ηn )
n−1 ND = (63)
d
% 2/3 210/3 [cos−1 (1 − ηn )]2/3
× cos 4MD [cos−1 (1 − x)]1/3
dx n−1
√
where ND = Qn/ D 8/3 S0 . Assuming y = ηn , Eq. (63) is
&n
+ 2(1 − 2x) x(1 − x) (57) written as
x=1/2
1 1 % 3/5
y= − cos 4ND [cos−1 (1 − y)]2/5
2 2
Simplifying Eq. (57) and then using y = ηn gives &
+ 2(1 − 2y) y(1 − y) (64)
∞
Equation (54) can also be written as 1 (−1)n
y= +
2 n=1 2n (n + 1)
n−1 '
1 1 1 −1 d
cos 4ND [cos−1 (1 − x)]2/5
3/5
y= + 1 − 2 cos cos (1 − 2y) ×
2 2 64MD2 dx n−1
3
$ n
− 2(1 − 2y) y(1 − y) (59) +2(1 − 2x) x(1 − x) (66)
x=1/2
548 Swamee and Rathie
Simplifying Eq. (66) and then using y = ηn gives Knowing R, g, S0 , ε and ν, the revised value of C can be obtained
by Eq. (72). Using the revised C with pertinent normal depth
1 1 32π 3/2 2/5
ηn = − cos N equation an improved value of normal depth can be obtained.
2 2 3 D
Repeating the process, the normal depth corresponding to Eq. (5)
3/5
1 2 31/6 ND 64π 3/2 2/5 can be found out.
+ − sin N + ···
4 5 π 3 D Similarly, assuming an arbitrary value of n = 0.015 s/m1/3 and
obtaining the corresponding normal depth for Manning’s equa-
(67)
tion [Eqs (28), (32), (48), (51), (67) or (71) as the case may be].
Equation (63) can be rewritten as Knowing the normal depth, the hydraulic radius R can be worked
out for a given channel section geometry. Comparing Eqs (2) and
1 1 1
y= + 1 − 2 cos 3/2
cos−1 (1 − 2y) (5), the Manning’s roughness coefficient is obtained as
2 2 32ND √ −1
5/2 2.457 g ε 0.221ν
n=− ln + √ (73)
R 1/6 12R R gRS0
− 2(1 − 2y) y(1 − y) (68)
Thus, the revised n can be obtained by Eq. (73). Using the revised
n with the corresponding normal depth equation an improved
Comparing Eqs. (68) and (17), a = θ = 1/2; and
value of yn can be obtained. The process can be repeated to the
1 −1 desired accuracy.
φ(y) = 1 − 2 cos cos (1 − 2y)
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3/2
32ND
5/2 8 Conclusions
− 2(1 − 2y) y(1 − y) (69)
Exact analytical equations for normal depth have been obtained
Thus, Eq. (18) with f (y) = y yields for rectangular, trapezoidal and circular sections. It is hoped that
∞ the equations are useful to water resources engineers.
1 1
y= +
2 n=1 2 (n + 1)
n
Notation
dn−1 1 −1
× n−1
1 − 2 cos 3/2
cos (1 − 2y) A = flow area
dx 32ND
n a = constant
5/2 b = bed width
− 2(1 − 2y) y(1 − y) (70)
C = Chezy’s coefficient
x=1/2
D = diameter
Simplifying Eq. (70) and then using y = ηn gives f = function
π 5/2 g = gravitational acceleration
ηn = 1 − cos √ 3/2 Hb = parameter (trapezoidal section)
128 2ND
m = side slope
5π 3/2 π 5/2 π 5/2 n = Manning’s roughness coefficient
+ √ 3/2 sin √ 3/2 − sin √ 3/2
64 2ND 128 2ND 64 2ND Mb = parameter (rectangular section)
MD = parameter (circular section)
+ ··· (71)
Nb = parameter (rectangular section)
ND = parameter (circular section)
7 Normal depth for dimensionally consistent equation P = flow perimeter
Pb = parameter (trapezoidal section)
For all channel sections when Eq. (18) is used along with Eq. (5), Q = discharge
it gives rise to a divergent series. This is on account of Eq. (5) Qmax = maximum discharge carried by circular section
not fulfilling the conditions laid down for the validity of Eq. (18). R = hydraulic radius
Thus, it is not possible to obtain a closed form solution using yn = normal depth
Eq. (5). This situation can be circumvented by assuming an arbi- βn = non-dimensional normal depth
trary value of C = 100 m1/2 /s and obtaining the corresponding (rectangular and trapezoidal sections)
normal depth for Chezy’s formula [Eqs (21), (22), (40), (43), = gamma function
(58) or (62) as the case may be]. Knowing the normal depth, ε = average roughness height
the hydraulic radius R can be worked out for a given channel ηn = non-dimensional normal depth (circular section)
section geometry. Comparing Eqs (1) and (5), Chezy’s constant θ = parameter
is given by ν = kinematic viscosity
φ = function
√ ε 0.221ν
C = −2.457 g ln + √ (72) ψ = angle
12R R gRS0
Exact solutions for normal depth problem 549